Systems and methods for communicating with an industrial cart

ABSTRACT

A cart having a wheel, a drive motor coupled to the wheel such that an output of the drive motor causes the wheel to rotate and propel the cart, a cart-computing device communicatively coupled to the drive motor, wherein the cart-computing device generates a control signal to adjust the operation of the drive motor, and a sensor module communicatively coupled to the cart-computing device. The sensor module, in a first mode, generates a signal and transmits the signal to the cart-computing device in response to a detected event. The sensor module, in a second mode, transmits a first communication signal in response to the first communication signal generated by the cart-computing device. The sensor module, in a third mode, receives a second communication signal in response to a source external to the cart transmitting the second communication signal to the cart.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application clams the benefit of U.S. Provisional Application No.62/519,304, filed Jun. 14, 2017, the benefit of U.S. ProvisionalApplication No. 62/519,326, filed Jun. 14, 2017, and the benefit of U.S.Provisional Application No. 62/519,316, filed Jun. 14, 2017, theentirety of which are hereby incorporated by reference in theirentireties.

TECHNICAL FIELD

Embodiments described herein generally relate to systems and methods forcommunicating with a cart and, more specifically, to systems and methodsfor communicating with and between carts in an assembly lineconfiguration of a grow pod.

BACKGROUND

While crop growth technologies have advanced over the years, there arestill many problems in the farming and crop industry today. As anexample, while technological advances have increased efficiency andproduction of various crops, many factors may affect a harvest, such asweather, disease, infestation, and the like. Additionally, certaincountries, regions and/or populations may not have suitable farmland togrow particular crops.

Currently, greenhouses and grow houses utilize stationary trays forgrowing plants. This typically requires large amounts of floor spacebecause workers must be able to access the trays in order to water andotherwise tend to the plants while they are growing. For example,stationary trays in greenhouses may need to be periodically rotated orrelocated so the plants growing within them receive the required amountof light and/or exposure to environmental conditions such as humidity orairflow. Consequently, greenhouses must provide additional floor spacefor workers to carry out these tasks and may be limited by the verticalreach of the worker. Greenhouses and grow houses are only an examplewhere a facility needs to accommodate access to stationary objects fromtime to time by a worker. Other environments, such as warehouses,fulfillment centers or the like must also utilize large amounts of floorspace and may be vertically limited by the height of their workers.

As such, a need exists to improve environments such as greenhouses andgrow houses, which can reduce the amount of direct worker interactionwith stationary objects, such as a plant during the growing process andremove limitations on the use of large floor spaces and relatively smallvertical elevations for growing plants.

SUMMARY

In one embodiment, a cart includes a wheel, a drive motor coupled to thewheel such that an output of the drive motor causes the wheel to rotateand propel the cart, a cart-computing device communicatively coupled tothe drive motor, where the cart-computing device generates a controlsignal to adjust the operation of the drive motor, and a sensor modulecommunicatively coupled to the cart-computing device. The sensor module,in a first mode, generates a signal and transmits the signal to thecart-computing device in response to a detected event. The sensormodule, in a second mode, transmits a first communication signal inresponse to the first communication signal generated by thecart-computing device. The sensor module, in a third mode, receives asecond communication signal in response to a source external to the carttransmitting the second communication signal to the cart.

In another embodiment, a system includes a track, and a first cart and asecond cart supported on the track. The first cart includes a wheelcoupled to the first cart and supported on the track, a drive motorcoupled to the wheel such that an output of the drive motor causes thewheel to rotate and propel the first cart, a cart-computing devicecommunicatively coupled to the drive motor, where the cart-computingdevice generates a control signal to adjust the operation of the drivemotor, and a sensor module communicatively coupled to the cart-computingdevice. The second cart includes a wheel coupled to the second cart andsupported on the track, a drive motor coupled to the wheel such that anoutput of the drive motor causes the wheel to rotate and propel thesecond cart, a cart-computing device communicatively coupled to thedrive motor, where the cart-computing device generates a control signalto adjust the operation of the drive motor, and a sensor modulecommunicatively coupled to the cart-computing device. The sensor moduleof the first cart generates a first signal in response to a firstdetected event and transmits the first signal to the cart-computingdevice of the first cart. The sensor module of the first cart transmitsa first communication signal generated by the cart-computing device ofthe first cart to the sensor module of the second cart. The sensormodule of the second cart receives the first communication signal andtransmits the first communication signal to the cart-computing device ofthe second cart.

In another embodiment, a system includes a track, a track sensor modulecoupled to the track, a master controller communicatively coupled to thetrack sensor module, and a cart supported on the track. The cartincludes a wheel coupled to the cart and supported on the track, a drivemotor coupled to the wheel such that an output of the drive motor causesthe wheel to rotate and propel the cart, a cart-computing devicecommunicatively coupled to the drive motor, where the cart-computingdevice generates a control signal to adjust the operation of the drivemotor, and a sensor module communicatively coupled to the cart-computingdevice. The sensor module generates a signal and transmits the signal tothe cart-computing device in response to a detected event, transmits afirst communication signal in response to the first communication signalgenerated by the cart-computing device, and receives a secondcommunication signal in response to a source external to the carttransmitting the second communication signal to the cart.

These and additional features provided by the embodiments describedherein will be more fully understood in view of the following detaileddescription, in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments set forth in the drawings are illustrative and exemplaryin nature and not intended to limit the disclosure. The followingdetailed description of the illustrative embodiments can be understoodwhen read in conjunction with the following drawings, where likestructure is indicated with like reference numerals and in which:

FIG. 1 depicts an illustrative assembly line grow pod that includes aplurality of carts according to embodiments described herein;

FIG. 2 depicts an illustrative network environment for variouscomponents in an assembly line grow pod according to embodimentsdescribed herein;

FIG. 3 depicts a plurality of illustrative carts supporting a payload inan assembly line configuration according to embodiments describedherein;

FIG. 4 depicts various components of an illustrative cart-computingdevice for facilitating communication according to embodiments describedherein;

FIG. 5A depicts a circuit diagram of illustrative sub-circuits ofelectronics for a cart-computing device according to embodimentsdescribed herein;

FIG. 5B depicts a circuit diagram of illustrative sub-circuits ofelectronics for a cart-computing device according to embodimentsdescribed herein;

FIG. 5C depicts a circuit diagram of illustrative sub-circuits ofelectronics for a cart-computing device according to embodimentsdescribed herein;

FIG. 5D depicts a circuit diagram of illustrative sub-circuits ofelectronics for a cart-computing device according to embodimentsdescribed herein;

FIG. 5E depicts a circuit diagram of illustrative sub-circuits ofelectronics for a cart-computing device according to embodimentsdescribed herein;

FIG. 6 depicts a flowchart of an illustrative method of controlling acart in a grow pod assembly according to embodiments described herein;

FIG. 7 depicts a flowchart for communicating a malfunction with a cartaccording to embodiments described herein;

FIG. 8 depicts a another flowchart for communicating a malfunction witha cart according to embodiments described herein; and

FIG. 9 depicts a flowchart for communicating data with a mastercontroller according to embodiments described herein.

DETAILED DESCRIPTION

Embodiments disclosed herein generally include systems and methods forproviding one or more carts in an assembly line configuration of a growpod. Some embodiments are configured such that a cart supporting apayload travels on a track of a grow pod to provide sustenance (such aslight, water, nutrients, etc.) to seeds and/or plants included in thepayload on the cart. The cart may be among one or more other cartsarranged on the track of the grow pod to create an assembly line ofcarts. The carts on the track may include one or more sensor modulesthat may operate as both sensors and communication devices such that thesensor module may detect events and/or receive communications with adetector of the sensor module and generate and transmit a communicationsignal with an emitter of the sensor module. As such, a sensor modulemay operate in multiple modes to provide for detection of event such asanother cart on the track and communications between carts and othersensor modules coupled to the track.

Referring now to the drawings, FIG. 1 depicts an illustrative assemblyline grow pod 100 that includes a plurality of carts 104. Asillustrated, the assembly line grow pod 100 includes a track 102 thatsupports one or more carts 104. Each of the one or more carts 104, asdescribed in more detail with reference to at least FIG. 3, may includeone or more wheels 222 a-222 d (collectively, referred to as 222)rotatably coupled to the cart 104 and supported on the track 102.

The track 102 may include an ascending portion 102 a, a descendingportion 102 b, and a connection portion 102 c. The ascending portion 102a may be coupled to the descending portion 102 b via the connectionportion 102 c. The track 102 may wrap around (e.g., in acounterclockwise direction as depicted in FIG. 1) a first axis 103 asuch that the carts 104 ascend upward in a vertical direction. Theconnection portion 102 c may be relatively level and straight (althoughthese are not requirements). The connection portion 102 c is utilized totransfer the carts 104 from the ascending portion 102 a to thedescending portion 102 b. The descending portion 102 b may be wrappedaround a second axis 103 b (e.g., in a counterclockwise direction asdepicted in FIG. 1) that is substantially parallel to the first axis 103a, such that the carts 104 may be returned closer to ground level. Eachof the ascending portion 102 a and the descending portion 102 b includesan upper portion 105 a and 105 b, respectively, and a lower portion 107a and 107 b, respectively. In some embodiments, a second connectionportion (not shown in FIG. 1) may be positioned near ground level thatcouples the descending portion 102 b to the ascending portion 102 a suchthat the carts 104 may be transferred from the descending portion 102 bto the ascending portion 102 a. Similarly, some embodiments may includemore than two connection portions 102 c to allow different carts 104 totravel different paths. As an example, some carts 104 may continuetraveling up the ascending portion 102 a, while some may take one of theconnection portions 102 c before reaching the top of the assembly linegrow pod 100.

FIG. 2 depicts an illustrative network environment 200 for a cart 104 ina grow house. As illustrated, each of a plurality of carts 104 (e.g., afirst cart 104 a, a second cart 104 b, and a third cart 104 c andcollectively referred to herein as cart(s) 104) may be communicativelycoupled to a network 250. It is understood that, although the terms“first,” “second,” “third,” “leading,” “middle,” “trailing,” etc. may beused herein to describe various elements, signals, components, and/orsections, these elements, signals, components, and/or sections, shouldnot be limited by these terms. These terms are only used to distinguishone element, signal, component, and/or section from another element,signal, component, and/or section. Additionally, the network 250 may becommunicatively coupled to the master controller 106 and/or a remotecomputing device 252. The master controller 106 may be configured tocommunicate with and control various components of the assembly linegrow pod 100 including the plurality of carts 104.

The master controller 106 may be a personal computer, laptop, mobiledevice, tablet, server, etc. and may be utilized as an interface to theassembly line grow pod 100 for a user. Depending on the embedment, themaster controller 106 may be integrated as part of the assembly linegrow pod 100 or may be merely coupled to the assembly line grow pod 100.For example, a cart 104 may send a notification to a user through themaster controller 106.

Similarly, the remote computing device 252 may include a server,personal computer, tablet, mobile device, etc. and may be utilized formachine-to-machine communications. As an example, if the cart 104(and/or assembly line grow pod 100 from FIG. 1) determines that a typeof seed being used requires a specific configuration for the assemblyline grow pod 100 to increase plant growth or output (e.g., through thecart-computing device 228 and/or one or more sensor modules e.g., 232,234, 236), then the cart 104 may communicate with the remote computingdevice 252 to retrieve the desired data and/or settings for the specificconfiguration.

The desired data may include a recipe for growing that type of seedand/or other information. The recipe may include timing for exposure tolight, amounts of water and the frequency of watering, environmentalconditions such as temperature and humidity, and/or the like. The cart104 may further query the master controller 106 and/or remote computingdevice 252 for information such as ambient conditions, firmware updates,etc. Likewise, the master controller 106 and/or the remote computingdevice 252 may provide one or more instructions in a communicationsignal to the cart 104 that includes control parameters for the drivemotor 226. As such, some embodiments may utilize an application programinterface (API) to facilitate this or other computer-to-computercommunications.

The network 250 may include the internet or other wide area network, alocal network, such as a local area network, a near field network, suchas Bluetooth or a near field communication (NFC) network. In someembodiments, the network 250 is a personal area network that utilizesBluetooth technology to communicatively couple the master controller106, the remote computing device 252, one or more carts 104, and/or anyother network connectable device. In some embodiments, the network 250may include one or more computer networks (e.g., a personal areanetwork, a local area network, or a wide area network), cellularnetworks, satellite networks and/or a global positioning system andcombinations thereof. Accordingly, at least the one or more carts 104may be communicatively coupled to the network 250 via the electricallyconductive track 102, via wires, via a wide area network, via a localarea network, via a personal area network, via a cellular network, via asatellite network, and/or the like. Suitable local area networks mayinclude wired Ethernet and/or wireless technologies such as, forexample, Wi-Fi. Suitable personal area networks may include wirelesstechnologies such as, for example, IrDA, Bluetooth, Wireless USB,Z-Wave, ZigBee, and/or other near field communication protocols.Suitable personal area networks may similarly include wired computerbuses such as, for example, USB and FireWire. Suitable cellular networksinclude, but are not limited to, technologies such as LTE, WiMAX, UMTS,CDMA, and GSM.

Communications between the various components of the network environment200 may be facilitated by various components of the assembly line growpod 100. For example, the track 102 may include one or more rails thatsupport the cart 104 and are communicatively coupled to the mastercontroller 106 and/or remote computing device 252 through the network250 as shown in FIGS. 1 and 2. In some embodiments, the track 102includes at least two rails 111 a and 111 b. Each of the two rails 111 aand 111 b of the track 102 may be electrically conductive. Each rail 111may be configured for transmitting communication signals and electricalpower to and from the cart 104 via the one or more wheels 222 rotatablycoupled to the cart 104 and supported by the track 102, as shown in moredetail in FIG. 3. That is, a portion of the track 102 is electricallyconductive and a portion of the one or more wheels 222 is in electricalcontact with the portion of the track 102 that is electricallyconductive.

Referring to FIG. 3, a plurality of illustrative carts 104 (e.g., thefirst cart 104 a, the second cart 104 b, and the third cart 104 c), eachsupporting a payload 230 in an assembly line configuration on the track102 is depicted. In some embodiments, the track 102 may include one railand one wheel 222 in electrical contact with the one rail. In such anembodiment, the one wheel 222 may relay communication signals andelectrical power to the cart 104 as the cart travels along the track102.

Since the carts 104 are limited to travel along the track 102, the areaof track 102 a cart 104 will travel in the future is referred to hereinas “in front of the cart” or “leading.” Similarly, the area of track 102a cart 104 has previously traveled is referred to herein as “behind thecart” or “trailing.” Furthermore, as used herein, “above” refers to thearea extending from the cart 104 away from the track 102 (i.e., in the+Y direction of the coordinate axes of FIG. 3). “Below” refers to thearea extending from the cart 104 toward the track 102 (i.e., in the −Ydirection of the coordinate axes of FIG. 3).

In some embodiments, the track 102 may include two conductive rails(e.g. 111 a and 111 b). The conductive rails may be coupled to anelectrical power source. The electrical power source may be a directcurrent source or an alternating current source. For example, each oneof the two parallel rails 111 a and 111 b of the track 102 may beelectrically coupled to one of the two poles (e.g., a negative pole anda positive pole) of the direct current source or the alternating currentsource. In some embodiments, one of the parallel rails (e.g., 111 a)supports a first pair of wheels 222 (e.g., 222 a and 222 b) and theother one of the parallel rails (e.g., 111 b) supports a second pair ofwheels (e.g., 222 c and 222 d). As such, at least one wheel 222 fromeach pair of wheels (e.g., 222 a and 222 c or 222 b and 222 d) are inelectrical contact with each of the parallel rails 111 a and 111 b sothat the cart 104 and the components therein may receive electricalpower and communication signals transmitted over the track 102.

Turning to the portion of FIG. 3 that includes first cart 104 a, theportion of the track 102 that supports the wheels 222 of first cart 104a is segmented into two portions of track 102. That is, track 102 issegmented into a first electrically conductive portion 102′ and a secondelectrically conductive portion 102″. In some embodiments, the track 102may be segmented into more than one electrical circuit. The electricallyconductive portion of the track 102 may be segmented by a non-conductivesection 101 such that a first electrically conductive portion 102′ ofthe track 102 is electrically isolated from a second electricallyconductive portion 102″ of the track 102. For example, wheels 222 a and222 c of first cart 104 a are supported and electrically coupled to thefirst electrically conductive portion 102′ of the track 102 and wheels222 b and 222 d of first cart 104 a are supported and electricallycoupled to the second electrically conductive portion 102″. Theconfiguration allows the first cart 104 a to continuously receiveelectrical power since at least two wheels (e.g., 222 a and 222 c or 222b and 222 d) remain electrically coupled to one of the two electricallyconductive portions of the track 102 as first cart 104 a traverses thetrack 102.

As the first cart 104 a traverses the track 102 from the firstelectrically conductive portion 102′ to the second electricallyconductive portion 102″, the cart-computing device 228 may select whichof the pair of wheels (e.g., 222 a and 222 c or 222 b and 222 d) fromwhich to receive electrical power and communication signals. In someembodiments, an electrical circuit may be implemented to automaticallyand continuously select and provide electrical power to the componentsof the first cart 104 a as the first cart 104 a traverses from the firstelectrically conductive portion 102′ to the second electricallyconductive portion 102″ of the track 102.

An example of such an electrical circuit is depicted in FIG. 5B andfurther described with reference therein. In other words, the first cart104 a may be configured to select electrical power from either a firstelectrical power signal transmitted by the first electrically conductiveportion 102′ or a second electrical power signal transmitted by thesecond electrically conductive portion 102″ when the cart 104 spans andtraverses the track 102 from the first electrically conductive portion102′ to the second conductive portion 102″.

For example, when wheels 222 a and 222 c are in electrical contact withthe first electrically conductive portion 102′ and wheels 222 b and 222d are in electrical contact with the second electrically conductiveportion 102″ the cart-computing device 228 or an electric circuit mayselect which of the two conductive portions 102′ or 102″ to drawelectrical power. Furthermore, the cart-computing device 228 or theelectric circuit may prevent the two conductive portions 102′ or 102″from being shorted as the first cart 104 a traverses both segments andmay prevent the first cart 104 a from being overloaded by two electricalpower sources. Therefore, the cart-computing device 228 or othercommunicatively coupled electronic circuit (e.g., as depicted in FIG.5B) may receive electrical power from one of the two conductive portions102′ or 102″ through the one or more wheels 222 and then distribute theelectrical power signals for use by the drive motor 226, thecart-computing device 228 and/or other electronic devicescommunicatively coupled to the cart 104.

Still referring to FIG. 3, the communication signals and electricalpower may include an encoded address specific to a cart 104. Each cart104 may include a unique address such that multiple communicationssignals and electrical power signal may be transmitted over the sametrack 102 and each signal may be received by the intended recipient ofthat signal. For example, the assembly line grow pod 100 may implement adigital command control system (DCC). The DDC system may encode adigital packet having a command and an address of an intended recipient,for example, in the form of a pulse width modulated signal that istransmitted along with electrical power to the track 102.

In such a system, each cart 104 may include a decoder, which may includea cart-computing device 228 coupled to the cart 104, designated with aunique address. When the decoder receives a digital packet correspondingto its unique address, the decoder executes the embedded command. Insome embodiments, the cart 104 may also include an encoder, which may beincluded in the cart-computing device 228 coupled to the cart 104, forgenerating and transmitting communications signals from the cart 104.The encoder may enable the cart 104 to communicate with other carts 104positioned along the track 102 and/or other systems or computing devicescommunicatively coupled with the track 102.

While the implementation of a DCC system is disclosed herein as anexample of providing communication signals and/or electrical power to adesignated recipient along a common interface (e.g., the track 102), anysystem and method capable of transmitting communication signals alongwith electrical power to and from a specified recipient may beimplemented. For example, some embodiments may be configured to transmitdata over AC circuits by utilizing a zero-crossing of the power fromnegative to positive (or vice versa).

In embodiments that include a system using alternating current toprovide electrical power to the carts 104, the communication signals maybe transmitted to the cart 104 during the zero-crossing of thealternating current sine wave. That is, the zero-crossing is the pointat which there is no voltage present from the alternating current powersource. As such, a communication signal may be transmitted during thisinterval. In some embodiments, the cart 104 may only receivecommunication signals while traveling along portions of the track 102.Therefore, in such embodiments, during a first zero-crossing interval, acommunication signal may be transmitted to and received by thecart-computing device 228 of the cart 104. The communication signaltransmitted during the first zero-crossing interval may include acommand and a direction to execute the command when a subsequent commandsignal is received and/or at a particular time in the future. During asubsequent zero-crossing interval, a communication signal may include asynchronization pulse, which may indicate to the cart-computing device228 of the cart 104 to execute the previously received command. Theaforementioned communication signal and command structure is only anexample. As such, other communication signals and command structures oralgorithms may be employed within the spirit and scope of the presentdisclosure.

In further embodiments that use alternating current to provideelectrical power to the carts 104, the communication signals may betransmitted to the cart 104 during the zero-crossing of the alternatingcurrent sine wave. In some embodiments, a communication signal may bedefined by the number of AC waveform cycles, which occur between a firsttrigger condition and a second trigger condition. In some embodiments,the first and second trigger condition, which may be the presence of apulse (e.g., a 5-volt pulse), may be introduced in the power signalduring the zero-crossing of the AC electrical power signal. In someembodiments, the first and second trigger condition may be or a changein the peak AC voltage of the AC electrical power signal. For example,the first trigger condition may be the change in peak voltage from about18 volts to about 14 volts and the second trigger condition may be thechange in peak voltage from about 14 volts to about 18 volts. Thecart-computing device 228 may be electrically coupled to the wheels 222and may be configured to sense changes in the electrical power signaltransmitted over the track 102 and through the wheels 222. When thecart-computing device 228 detects a first trigger condition, thecart-computing device 228 may begin counting the number of peak ACvoltage levels, the number of AC waveform cycles, or the amount of timeuntil a second trigger condition is detected. In some embodiments, thecount corresponds to a predefined operation or communication message.For example, a 5 count may correspond to an instruction for powering onthe drive motor 226 and an 8 count may correspond to an instruction forpowering off the driver motor. Each of the instructions may bepredefined in the cart-computing devices 228 of the carts 104 so thatthe cart-computing device 228 may translate the count into thecorresponding instruction and/or control signal. The aforementionedcommunication signals and command structures are only examples. As such,other communication signals and command structures or algorithms may beemployed within the spirit and scope of the present disclosure.

In some embodiments, bi-directional communication may occur between thecart-computing device 228 of the cart 104 and the master controller 106.As such, the cart 104 may generate and transmit a communication signalthrough the wheel 222 and the track 102 to the master controller 106. Insome embodiments, transceivers may be positioned anywhere on the track102. The transceivers may communicate via IR or other near-fieldcommunication system with one or more carts 104 positioned along track102. The transceivers may be communicatively coupled with the mastercontroller 106 or another computing device, which may receive atransmission of a communication signal from the cart 104.

In some embodiments, the cart-computing device 228 may communicate withthe master controller 106 or between carts 104 using a sensor module(e.g., 232, 234, 236) coupled to one or more of the carts 104. In someembodiments, one or more sensor modules (e.g., 236, 234, 236) may be aleading sensor 232 a-232 c, a trailing sensor 234 a-234 c, and/or anorthogonal sensor 236 a-236 c included on the cart 104. The sensormodules (e.g., 232, 234, 236) may include a detector and an emitterconfigured to detect events such as the presence of an object, adistance to the object and communicate between sensor modules on thetrack 102 and/or the carts 104. In some embodiments, the sensor modules(e.g., 232, 234, 236) may include a detector and an emitter utilizinginfrared light, ultrasonic, magnetic fields, visible light or the like.

In some embodiments, the sensor module (e.g., 232, 234, 236) may operatein one of several modes in order to both detect events such as thepresence of another cart and a corresponding distance to the other cartand send and receive communication signals. For example, in a first modethe sensor module (e.g., 232, 234, 236) of a first cart 104 a mayoperate to detect events such as the presence of a second cart 104 b andthe distance from the first cart 104 a to the second cart 104 b. In asecond mode, the sensor module (e.g., 232, 234, 236) may transmit one ormore communication signals from a first sensor module (e.g., a trailingsensor 234 a of a first cart 104 a) to a second sensor module (e.g., aleading sensor 232 b of a second cart 104 b).

In a third mode, the sensor module (e.g., 232, 234, 236) may receive oneor more communication signals from a source external to the cart 104 forwhich the sensor module (e.g., 232, 234, 236) is coupled. For example,the sensor module (e.g., 232, 234, 236) may receive one or morecommunication signals from a sensor module (e.g., 232, 234, 236) coupledto another cart 104 or a track sensor module 324. In some embodiments,the first mode, the second mode, and the third mode may selectivelyoperate during different periods of time. In other words, the sensormodule (e.g., 232, 234, 236) may operate in one mode at a time such thatdetection and communication operations are possible with the same set ofdetectors and emitters of the sensor module (e.g., 232, 234, 236). Insome embodiments, the communication operations (i.e., the second modeand the third mode as referred to herein may operate during the sameperiod of time). The cart-computing device 228 control which mode thesensor module (e.g., 232, 234, 236) operates.

By way of example, a cart 104 may include a cart-computing device 228communicatively coupled to a sensor module (e.g., 232, 234, 236). Thesensor module (e.g., 232, 234, 236), in a first mode, may generate andtransmit a signal to the cart-computing device 228 in response to adetected event. In a second mode, the sensor module (e.g., 232, 234,236) may transmit a first communication signal. The first communicationsignal may be generated by the cart-computing device 228. The firstcommunication signal may include operating information, statusinformation, sensor data, and/or other analytical information about thecart 104 and/or the payload 230 (e.g., the plants growing therein) orinstructions for controlling one or more other carts 104. For example,the operating information may include the speed, direction, torque, etc.of the cart 104. Status information may include plant growth status,watering status, nutrient status, pH status or other information relatedto the plants growing therein. Status information may also includeinformation about the cart 104, for example, the status of a backupbattery, whether the drive motor is operating within specifiedparameters, whether the cart is receiving sufficient power from thetrack, or other related information. The first communication signal mayalso relay sensor data obtained by the sensor module (e.g., 232, 234,236). For example, a distance determined by a first sensor module (e.g.,a leading sensor 232 b of a middle cart 104 b) may be relayed to asecond sensor module (e.g., a trailing sensor of a trailing cart 104 c).

In some embodiments, a third mode may include operating the sensormodule (e.g., 232, 234, 236) to receive a second communication signal inresponse to a source (e.g., a sensor module (e.g., 232, 234, 236)coupled to another cart 104 and/or a track sensor module 324) externalto the cart 104 transmitting the second communication signal to the cart104. For example, a master controller 106 may be communicatively coupledto a track sensor module 324 and the master controller 106 may generatethe second communication signal for the track sensor module 324 totransmit to the sensor module (e.g., 232, 234, 236) coupled to a cart104. In such an embodiment, the second communication signal generated bythe master controller 106 may include an update the firmware and/orsoftware of the cart-computing device 228 of the cart 104. In someembodiments, the second communication signal generated by the mastercontroller 106 may include one or more instructions for controlling theoperation of the cart 104. In other embodiments, a second cart 104 b maygenerate a second communication signal and transmit via a sensor module(e.g., leading sensor 232 b) which is received by the first sensormodule of the first cart 104 a (e.g., the trailing sensor 234 a). Insuch an embodiment, the second communication signal may include statusinformation or one or more instructions for controlling an operation ofa drive motor 226 of a cart 104.

In some embodiments, the first communication signal or the secondcommunication signal may correspond to a malfunction of a cart. Forexample, a leading cart 104 a may communicate with a trailing cart 104 bthat the leading cart 104 a is malfunctioning. As such, the trailingcart 104 b may adjust its operation to push the leading cart (e.g., 104a) along the track 102 if the malfunction is with the drive motor 226 a.In another embodiment, a trailing cart 104 b may communicate with aleading cart 104 a that the trailing cart 104 b is malfunctioning. Assuch, the leading cart 104 a may adjust its operation to pull thetrailing cart 104 b along the track 102 in the event the malfunction iswith the drive motor 226 b. A cart 104 (e.g., leading cart 104 a) may bepull another cart 104 (e.g., trailing cart 104 b) by deploying acoupling device such as a hook that couples to a portion of the cart 104(e.g., trailing cart 104 b) that is malfunctioning. Moreover, themalfunctioning cart 104 (e.g., trailing cart 104 b) may include a matingcoupling device for receiving the coupling device of the functioningcart 104 (e.g., leading cart 104 a). For example, the couplers may bemechanical or electromechanical. In some embodiments, a malfunction mayalso arise from a sensor module (e.g., 232, 234, 236) failure, a powerissue, a derailment of the cart, a loss of communication, for example,from the master controller through the track or the like.

In some embodiments, a cart 104 may lose the ability to communicationwith the master controller 106 and/or other carts 104 on the track 102.In such an instance, for example, where a leading cart 104 a losses theability to communicate, a trailing cart 104 b may communicate that theleading cart 104 a has lost the ability to communicate with the mastercontroller 106 so that communications may be reestablished or repaired.A trailing cart 104 b may determine there is an issue with thecommunications of a leading cart 104 a, for example, when the trailingcart 104 b attempts to communicate with the leading cart 104 a (e.g.,via a sensor module 236, 234, or 236) and the leading cart 104 a failsto respond. In some embodiments, the trailing cart 104 b may alsocommunicate as a proxy for the leading cart 104 a when the leading cart104 a has lost the ability to communicate with the master controller106. For example, the trailing cart 104 b may communicate with theleading cart 104 a via a functioning sensor module (e.g., 232, 234, 236)and relay the communication from the leading cart 104 a through thetrailing cart 104 b to the master controller 106. In such an instance,the trailing cart 104 b may include in the communication with the mastercontroller 106 that it is communicating on behalf of the leading cart104 a, for example, by including a unique identifier or address of theleading cart 104 a in the communication in place of the uniqueidentifier or address of the trailing cart 104 b.

In some embodiments, the sensor module (e.g., 232, 234, 236) of one cart104 may detect a malfunction of an adjacent cart 104. For example, asensor module (e.g., 232, 234, 236) of a cart 104 (e.g., trailing cart104 b) may detect that an adjacent cart 104 (e.g., leading cart 104 a)is not moving when it should. In response, the trailing cart 104 b maytransmit a communication signal from the sensor module (e.g., 232, 234,236) to another cart 104 or to the master controller 106, for examplevia a sensor module (e.g., a track sensor module 324) coupled to thetrack. In such an embodiment, carts 104 may report malfunctions withother carts 104 using the sensor module (e.g., 232, 234, 236) to detectthe malfunction and/or communicate the malfunction.

In some embodiments, a cart-computing device 228 may generate a firstcommunication signal that is transmitted from a cart based on a signalgenerated by the sensor module (e.g., 232, 234, 236) during a first modeof operation. In some embodiments, the sensor module (e.g., 232 a, 234a, 236 a) is coupled to a first cart 104 a such that the sensor module(e.g., 232 a, 234 a, 236 a) generates a first signal in response to adetected event behind (or alternatively in front of) the first cart 104a. For example, the detected event may correspond to the detection of apresence of a second cart 104 b behind (or alternatively in front of)the first cart 104 a on the track 102. Furthermore, the first signal maycorrespond to a distance between the first cart 104 a and the secondcart 104 b. In response to the first signal, the cart-computing deviceof the first cart may a control signal to adjust the operation of thedrive motor 226 a of the first cart 104 a to maintain a positionrelative to the second cart 104 b.

In some embodiments, the sensor module (e.g., 232, 234, 236) maycomprise an orthogonal sensor 236 configured to transmit and receive oneor more communication signals with a track sensor module 324. Forexample, the track sensor module 324 may transmit a first communicationsignal corresponding to status information or other information from thecart 104. In another example, the track sensor module 324 may transmitsa second communication signal that is generated by the master controller106 and may correspond to one or more instructions for controlling anoperation of the cart 104. As such, a means of communication may beestablished between the master controller 106 and one or more of thecarts 104 supported on the track 102. Furthermore, a master controller106 may provide one cart 104 a with an instruction through communicationbetween a track sensor module 324 and sensor module (e.g., 232, 234,236) coupled to the cart 104. Subsequently, the one cart 104 a may relaythe instruction from the master controller 106 to one or more of theother carts 104 along the track 102. It should be understood that thesensor module (e.g., 232, 234, 236) may be used to communicate betweenand among carts 104 and the master controller 106. Additionally, thesensor module (e.g., 232, 234, 236) may be used to detect events such asthe presence of a cart 104 in front of or behind the cart 104 or thepresence of a track sensor module 324.

Still referring to FIG. 3, one or more components may be coupled to thetray 220. For example, each cart 104 a-104 c may include a back-up powersupply 224 a-224 c, a drive motor 226 a-226 c, a cart-computing device228 a-228 c, a tray 220 and/or the payload 230. Collectively, theback-up power supplies 224 a-224 c, drive motors 226 a-226 c, andcart-computing devices 228 a-228 c are referred to as back-up powersupply 224, drive motor 226, and cart-computing device 228. The tray 220may additionally support a payload 230 thereon. Depending on theparticular embodiment, the payload 230 may contain plants, seedlings,seeds, etc. However, this is not a requirement as any payload 230 may becarried on the tray 220 of the cart 104.

The back-up power supply 224 may comprise a battery, storage capacitor,fuel cell or other source of reserve electrical power. The back-up powersupply 224 may be activated in the event the electrical power to thecart 104 via the wheels 222 and track 102 is lost. The back-up powersupply 224 may be utilized to power the drive motor 226 and/or otherelectronics of the cart 104. For example, the back-up power supply 224may provide electrical power to the cart-computing device 228 or one ormore sensor modules (e.g., 232, 234, 236). The back-up power supply 224may be recharged or maintained while the cart is connected to the track102 and receiving electrical power from the track 102.

The drive motor 226 is coupled to the cart 104. In some embodiments, thedrive motor 226 may be coupled to at least one of the one or more wheels222 such that the cart 104 is capable of being propelled along the track102 in response to a received signal. In other embodiments, the drivemotor 226 may be coupled to the track 102. For example, the drive motor226 may be rotatably coupled to the track 102 through one or more gears,which engage a plurality of teeth, arranged along the track 102 suchthat the cart 104 is propelled along the track 102. That is, the gearsand the track 102 may act as a rack and pinion system that is driven bythe drive motor 226 to propel the cart 104 along the track 102.

The drive motor 226 may be configured as an electric motor and/or anydevice capable of propelling the cart 104 along the track 102. Forexample, the drive motor 226 may be a stepper motor, an alternatingcurrent (AC) or direct current (DC) brushless motor, a DC brushed motor,or the like. In some embodiments, the drive motor 226 may compriseelectronic circuitry, which may be used to adjust the operation of thedrive motor 226, in response to a communication signal (e.g., a commandor control signal for controlling the operation of the cart 104)transmitted to and received by the drive motor 226. The drive motor 226may be coupled to the tray 220 of the cart 104 or may be directlycoupled to the cart 104. In some embodiments, more than one drive motor226 may be included on the cart 104. For example, each wheel 222 may berotatably coupled to a drive motor 226 such that the drive motor 226drives rotational movement of the wheels 222. In other embodiments, thedrive motor 226 may be coupled through gears and/or belts to an axle,which is rotatably coupled to one or more wheels 222 such that the drivemotor 226 drives rotational movement of the axle that rotates the one ormore wheels 222.

In some embodiments, the drive motor 226 is electrically coupled to thecart-computing device 228. The cart-computing device 228 mayelectrically monitor and control the speed, direction, torque, shaftrotation angle, or the like, either directly and/or via a sensor thatmonitors operation of the drive motor 226. In some embodiments, thecart-computing device 228 may electrically control the operation of thedrive motor 226. In some embodiments, the cart-computing device 228 mayreceive a communication signal transmitted through the electricallyconductive track 102 and the one or more wheels 222 from the mastercontroller 106 or other computing device communicatively coupled to thetrack 102. In some embodiments, the cart-computing device 228 maydirectly control the drive motor 226 in response to signals receivedthrough a network interface hardware 414 (as depicted and described withreference to FIG. 4). In some embodiments, the cart-computing device 228executes power logic 436 (as depicted and described with reference toFIG. 4) to control the operation of the drive motor 226.

Still referring to FIG. 3, the cart-computing device 228 may control thedrive motor 226 in response to one or more signals received from aleading sensor 232, a trailing sensor 234, and/or an orthogonal sensor236 included on the cart 104 in some embodiments. Each of the leadingsensor 232, the trailing sensor 234, and the orthogonal sensor 236 maycomprise an infrared sensor, a photo-eye sensor, a visual light sensor,an ultrasonic sensor, a pressure sensor, a proximity sensor, a motionsensor, a contact sensor, an image sensor, an inductive sensor (e.g., amagnetometer) or other type of sensor module capable of detecting atleast the presence of an object (e.g., another cart 104 or a tracksensor module 324) and generating one or more signals indicative of thedetected event (e.g., the presence of the object).

As used herein, a “detected event” refers to an event for which a sensormodule (e.g., 232, 234, 236) is configured to detect. In response, thesensor module (e.g., 232, 234, 236) may generate one or more signalscorresponding to the event. For example, if the sensor module (e.g.,232, 234, 236) is configured to generate one or more signals in responseto the detection of an object, the detected event may be the detectionof an object. Moreover, the sensor module (e.g., 232, 234, 236) may beconfigured to generate one or more signals that correspond to a distancefrom the sensor module (e.g., 232, 234, 236) to an object as a distancevalue, which may also constitute a detected event. As another example, adetected event may be a detection of infrared light. In someembodiments, the infrared light may be generated by the infrared sensorreflected off an object in the field of view of the infrared sensor andreceived by the infrared sensor.

In some embodiments, an infrared emitter may be coupled with the cart104 or in the environment of the assembly line grow pod 100, and maygenerate infrared light which may be reflected off an object anddetected by the infrared sensor. In some instances, the infrared sensormay be calibrated to generate a signal when the detected infrared lightis above a defined threshold value (e.g., above a defined power level).In some embodiments, a pattern (e.g. a barcode or QR code) may berepresented in the reflected infrared light, which may be received bythe infrared sensor and used to generate one or more signals indicativeof the pattern detected by the infrared sensor. The aforementioned isnot limited to infrared light. Various wavelengths of light, includingvisual light, such as red or blue, may also be emitted, reflected, anddetected by a visual light sensor or an image sensor that generates oneor more signals in response to the light detection. As an additionalexample, a detected event may be a detection of contact with an object(e.g., as another cart 104) by a pressure sensor or contact sensor,which generates one or more signals corresponding thereto.

In some embodiments, the leading sensor 232, the trailing sensor 234,and the orthogonal sensor 236 may be communicatively coupled to thecart-computing device 228. The cart-computing device 228 may receive theone or more signals from one or more of the leading sensor 232, thetrailing sensor 234, and the orthogonal sensor 236. In response toreceiving the one or more signals, the cart-computing device 228 mayexecute a function defined in an operating logic 432, communicationlogic 434 and/or power logic 436, which are described in more detailherein with reference to at least FIG. 4. For example, in response tothe one or more signals received by the cart-computing device 228, thecart-computing device 228 may adjust, either directly or throughintermediate circuitry, a speed, a direction, a torque, a shaft rotationangle, and/or the like of the drive motor 226.

In some embodiments, the leading sensor 232, the trailing sensor 234,and/or the orthogonal sensor 236 may be communicatively coupled to themaster controller 106 (FIG. 1). In some embodiments, the leading sensor232, the trailing sensor 234, and the orthogonal sensor 236 may generateone or more signals that may be transmitted via the one or more wheels222 and the track 102 (FIG. 1). In some embodiments, the track 102and/or the cart 104 may be communicatively coupled to a network 250(FIG. 2). Therefore, the one or more signals may be transmitted to themaster controller 106 via the network 250 over the network interfacehardware 414 (FIG. 4) or the track 102 and in response, the mastercontroller 106 may return a control signal to the cart 104 forcontrolling the operation of one or more drive motors 226 of one or morecarts 104 positioned on the track 102.

Still referring to FIG. 3, the one or more signals from one or more ofthe leading sensor 232, the trailing sensor 234, and the orthogonalsensor 236 may directly adjust and control the drive motor 226 in someembodiments. For example, electrical power to the drive motor 226 may beelectrically coupled with a field-effect transistor, relay, or othersimilar electronic device capable of receiving one or more signals froma sensor module (e.g., 232, 234, 236). For example, electrical power tothe drive motor 226 may be electrically coupled via a contact sensorthat selectively activates or deactivates the operation of the drivemotor 226 in response to the one or more signals from the sensor.

That is, if a contact sensor electromechanically closes (i.e., thecontact sensor contacts an object, such as another cart 104), then theelectrical power to the drive motor 226 is terminated. Similarly, whenthe contact sensor electromechanically opens (i.e., the contact sensoris no longer in contact the object), then the electrical power to thedrive motor 226 may be restored. This may be accomplished by includingthe contact sensor in series with the electrical power to the drivemotor 226 or through an arrangement with one or more electricalcomponents electrically coupled to the drive motor 226. In otherembodiments, the operation of the drive motor 226 may adjustproportionally to the one or more signals from the one or more sensormodules 232, 234, and 236. For example, an ultrasonic sensor maygenerate one or more signals indicating the range of an object from thesensor module (e.g., 232, 234, 236) and as the range increases ordecreases, the electrical power to the drive motor 226 may increase ordecrease, thereby increasing or decreasing the output of the drive motor226 accordingly.

The leading sensor 232 may be coupled to the cart 104 such that theleading sensor 232 detects adjacent objects, such as another cart 104 infront of or leading the cart 104. In addition, the leading sensor 232may be coupled to the cart 104 such that the leading sensor 232communicates with other sensor modules 232, 234, and 236 coupled toanother cart 104 that are in front of or leading the cart 104. Thetrailing sensor 234 may be coupled to the cart 104 such that thetrailing sensor 234 detects adjacent objects, such as another cart 104behind or trailing the cart 104. In addition, the trailing sensor 234may be coupled to the cart 104 such that the trailing sensor 234communicates with other sensor modules 232, 234, and 236 coupled toanother cart 104 that are behind or trailing the cart 104.

The orthogonal sensor 236 may be coupled to the cart 104 to detect orcommunicate with adjacent objects, such as a track sensor module 324,positioned above, below, and/or beside the cart 104. While FIG. 3depicts the orthogonal sensor 236 positioned generally above the cart104, as previously stated, the orthogonal sensor 236 may be coupled withthe cart 104 in any location which allows the orthogonal sensor 236 todetect and/or communicate with objects, such as a track sensor module324, above and/or below the cart 104.

In some embodiments, the track sensor modules 324 may be arranged alongthe track 102 or the supporting structures to the track 102 atpre-defined intervals. The orthogonal sensor 236 may include forexample, a photo-eye type sensor. In addition, the orthogonal sensor 236may be coupled to the cart 104 such that the photo-eye type sensorimages the track sensor modules 324 positioned along the track 102 belowthe cart 104. As such, the cart-computing device 228 and/or mastercontroller 106 may receive one or more signals generated from thephoto-eye when the photo-eye detects a track sensor module 324 as thecart 104 travels along the track 102.

The cart-computing device 228 and/or master controller 106, from the oneor more signals, may determine the speed of the cart 104. Additionally,the speed of each of the other carts 104 traveling on the track 102 mayalso be determined. In some embodiments, in response to determining thespeed of one or more of the carts 104 on the track 102, thecart-computing device 228 and/or master controller 106 may generate acontrol signal or communication signal (e.g., through the track 102 andthe wheel 222 of the cart 104) to the drive motor 226 of the cart 104 toadjust the speed of the drive motor 226. In some embodiments, control ofthe drive motor 226 may be utilized to maintain a uniform speed betweenthe one or more carts 104 a-104 c on the track 102 and/or adjust thedistance between one or more of the carts 104 a-104 c on the track 102.

Still referring to FIG. 3, it should be understood that the leadingsensors 232, the trailing sensors 234, and the orthogonal sensors 236may each comprise one or more of the sensor modules 232, 234, 236described herein or one or more other sensor modules 232, 234, 236capable of detecting at least the presence of an object (e.g., anothercart 104 or a track sensor module 324) and generating one or moresignals indicative of the detected event. It should also be understoodthat the leading sensors 232, the trailing sensors 234, and theorthogonal sensors 236 may include a transmitter and/or transceivermodule, such as an infrared emitter or other electromagnetic emitter. Insome embodiments, the leading sensor 232 b (e.g., of middle cart 104 b)may be configured to communicate data with a trailing sensor 234 a of aleading cart 104 a. As such, the leading sensor 232 b may include acommunications port, as well as sensor modules (e.g., 232, 234, 236) todetermine a location and/or a relative location of the cart 104 withrespect to other carts in the assembly line. The trailing sensor 234 bmay be configured similar to the leading sensor 232 b, except that thetrailing sensor 234 b is configured to communicate with a trailing cart104 c. Additionally, the orthogonal sensors 236 may include an infrared(IR) device and/or other device for facilitating communication with themaster controller 106 (FIG. 1).

Still referring to FIG. 3, it should be understood that the leadingsensors 232 and the trailing sensors 234 are depicted on a leading sideand a trailing side of each of the carts 104, respectively. However,this is merely an example. Depending on the types of devices utilized,the leading sensors 232 may be located anywhere on the carts 104.Similarly, depending on the types of devices utilized for the trailingsensor 234, these devices may be positioned anywhere on the carts 104.While some devices require line of sight, this is not a requirement.

In addition, the orthogonal sensors 236 are depicted in FIG. 3 as beingdirected substantially upward. This is also merely an example, as theorthogonal sensors 236 may be directed in any appropriate direction tocommunicate with the master controller 106. In some embodiments, theorthogonal sensors 236 may be directed below the cart 104, to the sideof the carts 104, and/or may not require line of sight and may be placedanywhere on the carts 104 (e.g., in embodiments where the orthogonalsensors 236 utilize a radio frequency device, a near-field communicationdevice, or the like).

In some embodiments, the orthogonal sensors 236 may comprise atransmitting component where data may be transmitted to and received bythe track sensor module 324. For example, the orthogonal sensors 236 maycomprise a near-field communication module and/or an RFID module, whichis correspondingly, registered by the track sensor module 324 toindicate a unique identification of the first cart 104 a, which isadjacent to the track sensor module 324. However, it should beunderstood that the orthogonal sensors 236 and the track sensor module324 may operate to identify a location of the carts 104 along the track102.

As previously referenced, three carts 104 a-104 c are depicted in FIG. 3as a leading cart 104 a, a middle cart 104 b, and a trailing cart 104 csupported on the track 102. As the carts 104 a, 104 b, and 104 c movealong the track 102 (e.g. in the +X direction of the coordinate axes ofFIG. 3), the leading sensor 232 b and the trailing sensor 234 b of themiddle cart 104 b may detect the trailing cart 104 c and the leadingcart 104 a, respectively. That is, detection of the adjacent cartsallows the middle cart 104 b to maintain a distance from the trailingcart 104 c and the leading cart 104 a. For example, the leading sensor232 b of the middle cart 104 b may detect the distance between themiddle cart 104 b and the leading cart 104 a (e.g., a detected event)and generate one or more signals indicative of the distance. In someembodiments, if the distance between the middle cart 104 b and theleading cart 104 a is above a predetermined value or threshold value,then the speed of the drive motor 226 b of middle cart 104 b may beincreased to decrease the distance between the middle cart 104 b and theleading cart 104 a. For example, if the predetermined value is about 12inches and the distance, as determined by the leading sensor 232 b, isabout 18 inches, then the speed of the drive motor 226 b of middle cart104 b may be increased until the distance is about 12 inches or less.

In some embodiments, a distance between the leading cart 104 a and themiddle cart 104 b may be defined as a range. For example, a range may bedefined as a distance from about 8 inches to about 12 inches. If thedistance is outside the range, then the speed of the drive motor 226 bof the middle cart 104 b may be increased or decreased to reduce orincrease the distance between the middle cart 104 b and the leading cart104 a, respectively. For example, if the distance between the middlecart 104 b and the leading cart 104 a is about 18 inches, as determinedby the leading sensor 232 b, then the speed of the drive motor 226 b ofthe middle cart 104 b is increased until the distance is less than 12inches but greater than 8 inches. Similarly, if the distance between themiddle cart 104 b and the leading cart 104 a is either outside the rangeor less than a predetermined value or threshold, then the drive motor226 b of the middle cart 104 b may be adjusted. For example, the speedof the drive motor 226 b may be decreased such that the distance betweenthe middle cart 104 b and the leading cart 104 a returns to a valuewithin the defined range or is equal to or greater than thepredetermined value.

In some embodiments, the same adjustments (or a similar adjustment) mayalso be applied to the distance between the middle cart 104 b and atrailing cart 104 c. In such embodiments, the trailing sensor 234 b ofmiddle cart 104 b may determine the distance between the middle cart 104b and the trailing cart 104 c. In response to the one or more signalsindicative of the distance between the middle cart 104 b and thetrailing cart 104 c, the drive motor 226 b of the middle cart 104 b maybe adjusted. For example, the drive motor 226 b may be increased inspeed if the distance is above a predetermined value or above a maximumvalue in the range. Similarly, the drive motor 226 b may be decreased inspeed if the distance is below a predetermined value or below a minimumvalue in the range. In some embodiments, decreasing the speed of thedrive motor 226 may include stopping the rotational motion of the drivemotor 226, effectively stopping the cart from being propelled.

It should also be understood that the carts 104 may, in someembodiments, utilize the one or more signals from each of theirrespective leading sensors 232 and/or trailing sensors 234 to determinewhich drive motor 226 of carts 104 should be adjusted to reduce orincrease the distance between each of the carts 104. For example, if thedistance between the leading cart 104 a and the middle cart 104 b isless than the predetermined value and the distance between the middlecart 104 b and the trailing cart 104 c is less than the predeterminedvalue, then the drive motor 226 a of the leading cart 104 a and thedrive motor 226 b of the middle cart 104 b may be increased to adjustthe distances between each of the carts 104. In such embodiments, thecarts 104 may communicate their determined distances, (e.g., asdetermined by their respective leading sensors 232 and trailing sensors234) to determine which of the drive motors 226 needs to be adjusted.

As discussed herein, the one or more signals generated by the leadingsensors 232 and trailing sensors 234 may be analyzed by the mastercontroller 106 (FIG. 1) or the one or more cart-computing devices 228.The one or more signals may be transmitted through the track 102 and theone or more wheels 222 to the master controller 106 (FIG. 1) and/or oneor more of the cart-computing devices 228 of carts 104. In someembodiments, the one or more signals may be transmitted between carts104 by transmitting and receiving data with the leading sensors 232 andtrailing sensors 234.

In some instances, the drive motor 226 b of the middle cart 104 b maymalfunction. In such a case, the middle cart 104 b may utilize thetrailing sensor 234 b to communicate with the trailing cart 104 c thatthe drive motor 226 b of the middle cart 104 b has malfunctioned. Inresponse, the trailing cart 104 c may push the middle cart 104 b. Toaccommodate the extra load in pushing the middle cart 104 b, thetrailing cart 104 c may adjust its operation mode (e.g., increase theelectrical power to the drive motor 226 c of the trailing cart 104 c).The trailing cart 104 c may push the middle cart 104 b until themalfunction has been repaired and/or the middle cart 104 has beenremoved or replaced. In some embodiments, the middle cart 104 b maycomprise a slip clutch and gear arrangement coupled to the drive motor226 b and the track 102. As such, when the trailing cart 104 c beginspushing the middle cart 104 b, the slip clutch and gear arrangement maydisengage from the track 102 such that the middle cart 104 b may bepropelled along the track 102. This allows the middle cart 104 b to befreely pushed by the trailing cart 104 c. The slip clutch may reengagewith the track 102 once the malfunction is corrected and the trailingcart 104 c stops pushing.

As will be understood, the leading sensor 232 a of the leading cart 104a and the trailing sensor 234 c of the trailing cart 104 c may beconfigured to communicate with other carts 104 that are not depicted inFIG. 3. Similarly, some embodiments may cause the leading sensor 232 bto communicate with the trailing sensor 234 a of the leading cart 104 ato pull the middle cart 104 b in the event of a malfunction.Additionally, some embodiments may cause the carts 104 to communicatestatus and other information, as desired or necessary.

Still referring to FIG. 3, a track sensor module 324 is coupled to thetrack 102. Although the track sensor module 324 is depicted as beingcoupled to the underside of the track 102 above the carts 104, the tracksensor module 324 may be positioned in any location capable ofindicating a unique section of the track 102 to the carts 104. The tracksensor module 324 may be include a communication portal and may beconfigured to communicate with the any of the orthogonal sensors 236.The track sensor module 324 may comprise an infrared emitter, a barcode, a QR code or other marker capable of indicating a unique location.That is, the track sensor module 324 may be an active device or apassive device for indicating a location along the track 102. In someembodiments, the track sensor module 324 may emit infrared light orvisual light at a unique frequency that may be identifiable by theorthogonal sensors 236. In some embodiments, the track sensor module 324may require line of sight and thus will communicate with the one or morecarts 104 that are within that range. Regardless, the respective cart104 may communicate data detected from cart sensor modules (e.g., 232,234, 236), including the leading sensors 232, the trailing sensors 234,and/or other sensors. Additionally, the master controller 106 mayprovide data and/or commands for use by the carts 104 via the tracksensor module 324.

In operation, the track sensor module 324 may correspond to a particularlocation along the track 102. That is, the track sensor module 324 maycommunicate a unique identifier corresponding to a particular location.For example, as the middle cart 104 b passes in proximity to the tracksensor module 324, the orthogonal sensor 236 b may register (i.e.,detect the track sensor module 324) the particular location. Theparticular location represented by the track sensor module 324 may beused to determine the position of the middle cart 104 b with respect tothe leading cart 104 a and/or the trailing cart 104 c. Additionally,other functional attributes of the middle cart 104 b may also bedetermined. For example, the speed of the middle cart 104 b may bedetermined based on the time that elapses between two separate tracksensor modules 324 where each track sensor module 324 corresponds toseparate location along the track 102 and the distance between the twotrack sensor modules 324 is known. Additionally, through communicationwith the master controller 106 (FIG. 1) or with the other carts 104,distances between the carts 104 may be determined. In response, thedrive motors 226 may be adjusted, if necessary.

FIG. 4 depicts a cart-computing device 228 for facilitatingcommunication. As illustrated, the cart-computing device 228 includes aprocessor 410, input/output hardware 412, the network interface hardware414, a data storage component 416 (which stores systems data 418, plantdata 420, and/or other data), and the memory component 430. The memorycomponent 430 may store operating logic 432, the communications logic434, and the power logic 436. The communications logic 434 and the powerlogic 436 may each include a plurality of different pieces of logic,each of which may be embodied as a computer program, firmware, and/orhardware, as an example. A local communications interface 440 is alsoincluded in FIG. 4 and may be implemented as a bus or othercommunication interface to facilitate communication among the componentsof the cart-computing device 228.

The processor 410 may include any processing component operable toreceive and execute instructions (such as from a data storage component416 and/or the memory component 430). The processor 410 may be anydevice capable of executing the machine-readable instruction set storedin the memory component 430. Accordingly, the processor 410 may be anelectric controller, an integrated circuit, a microchip, a computer, orany other computing device. The processor 410 is communicatively coupledto the other components of the assembly line grow pod 100 by acommunication path and/or the local communications interface 440.Accordingly, the communication path and/or the local communicationsinterface 440 may communicatively couple any number of processors 410with one another, and allow the components coupled to the communicationpath and/or the local communications interface 440 to operate in adistributed computing environment. Specifically, each of the componentsmay operate as a node that may send and/or receive data. While theembodiment depicted in FIG. 4 includes a single processor 410, otherembodiments may include more than one processor 410.

The input/output hardware 412 may include and/or be configured tointerface with microphones, speakers, a keyboard, a display, and/orother hardware. For example, the display may provide text and/orgraphics indicating the status of each cart 104 in the assembly linegrow pod 100.

The network interface hardware 414 is coupled to the localcommunications interface 440 and communicatively coupled to theprocessor 410, the memory component 430, the input/output hardware 412,and/or the data storage component 416. The network interface hardware414 may be any device capable of transmitting and/or receiving data viaa network 250 (FIG. 2). Accordingly, the network interface hardware 414can include a communication transceiver for sending and/or receiving anywired or wireless communication. For example, the network interfacehardware 414 may include and/or be configured for communicating with anywired or wireless networking hardware, including an antenna, a modem,LAN port, Wi-Fi card, WiMax card, ZigBee card, Bluetooth chip, USB card,mobile communications hardware, near-field communication hardware,satellite communication hardware and/or any wired or wireless hardwarefor communicating with other networks and/or devices.

In one embodiment, the network interface hardware 414 includes hardwareconfigured to operate in accordance with the Bluetooth wirelesscommunication protocol. In another embodiment, the network interfacehardware 414 may include a Bluetooth send/receive module for sending andreceiving Bluetooth communications to/from the network 250 (FIG. 2). Thenetwork interface hardware 414 may also include a radio frequencyidentification (“RFID”) reader configured to interrogate and read RFIDtags. From this connection, communication may be facilitated between thecart-computing devices 228 of the carts 104, the master controller 106and/or the remote computing device 252 depicted in FIG. 2.

The memory component 430 may be configured as volatile and/ornonvolatile memory and may comprise RAM (e.g., including SRAM, DRAM,and/or other types of RAM), ROM, flash memories, hard drives, securedigital (SD) memory, registers, compact discs (CD), digital versatilediscs (DVD), or any non-transitory memory device capable of storingmachine-readable instructions such that the machine-readableinstructions can be accessed and executed by the processor 410.Depending on the particular embodiment, these non-transitorycomputer-readable mediums may reside within the cart-computing device228 and/or external to the cart-computing device 228. Themachine-readable instruction set may comprise logic or algorithm(s)written in any programming language of any generation (e.g., 1GL, 2GL,3GL, 4GL, or 5GL) such as, for example, machine language that may bedirectly executed by the processor 410, or assembly language,object-oriented programming (OOP), scripting languages, microcode, etc.,that may be compiled or assembled into machine readable instructions andstored in the non-transitory computer readable memory, e.g., the memorycomponent 430.

In some ebmodiments, the machine-readable instruction set may be writtenin a hardware description language (HDL), such as logic implemented viaeither a field-programmable gate array (FPGA) configuration or anapplication-specific integrated circuit (ASIC), or their equivalents.Accordingly, the functionality described herein may be implemented inany conventional computer programming language, as pre-programmedhardware elements, or as a combination of hardware and softwarecomponents. While the embodiment depicted in FIG. 4 includes a singlenon-transitory computer readable memory, e.g. memory component 430,other embodiments may include more than one memory module.

Still referring to FIG. 4, the operating logic 432 may include anoperating system and/or other software for managing components of thecart-computing device 228. As also discussed above, the communicationslogic 434 and the power logic 436 may reside in the memory component 430and may be configured to perform the functionality, as described herein.

It should be understood that while the components in FIG. 4 areillustrated as residing within the cart-computing device 228, this ismerely an example. In some embodiments, one or more of the componentsmay reside on the cart 104 external to the cart-computing device 228. Itshould also be understood that, while the cart-computing device 228 isillustrated as a single device, this is also merely an example. In someembodiments, the communications logic 434 and the power logic 436 mayreside on different computing devices. As an example, one or more of thefunctionalities and/or components described herein may be provided bythe master controller 106 and/or the remote computing device 252.

Additionally, while the cart-computing device 228 is illustrated withthe communications logic 434 and the power logic 436 as separate logicalcomponents, this is also an example. In some embodiments, a single pieceof logic (and/or or several linked modules) may cause the cart-computingdevice 228 to provide the described functionality.

Referring now to FIGS. 5A-5E, a circuit diagram 500 is depicted. Thecircuit diagram 500 is an example circuit for implementing theelectronics of the cart 104 (FIG. 1). As depicted in FIG. 5A, theelectronics of the cart 104 may be controlled through a cart-computingdevice 228, for example, the cart-computing device 228 may be amicrocontroller also referred to as a peripheral interface controller(“PIC”) 228. A PIC microcontroller 228 may include ROM, flash memory, orother forms of non-transitory computer readable memory for storingmachine-readable instruction sets such as operating logic 432,communication logic 434, and power logic 436. The memory component 430may also store data such as cart data or plant data 420.

The PIC microcontroller 228 may also include processing capabilities andmore than one input and output interface for communicatively couplingwith input/output hardware 412, network interface hardware 414, one ormore sensor modules (e.g., 232, 234, 236) or other components associatedwith the cart 104. Furthermore, some PIC microcontrollers 228 include aninternal clock and some utilize an external clock signal as an input. Asdepicted, the PIC microcontroller 228 receives a clock signal input froman external clock-generating component depicted in sub-circuit 502.Generally, a clock signal is produced by a clock generator and is usedby the PIC microcontroller 228 to synchronize different components of acircuit and the execution of instructions at specified intervals andrates (i.e., frequencies). Additionally, the PIC microcontroller 228couples through one of the input and output interfaces to a statussub-circuit 503. The status sub-circuit 503 includes a status LED thatmay be used to indicate a status, such as power or operating state ofthe PIC microcontroller 228.

As discussed in detail above, the cart 104 receives electrical power andcommunication signals via the wheels 222, which are in contact with thetrack 102 as described herein. The circuit diagram 500 is continued inFIG. 5B, which depicts a sub-circuit where the pair of front wheels (forexample, a pair of wheels 222 a and 222 c, FIG. 3 electrically coupledto opposite rails of the track 102), is electrically connected to thecircuit at junction 504. Similarly, the pair of back wheels (e.g., 222 band 222 d, FIG. 3) is electrically connected to the circuit at junction506. Each wheel 222 in the pair of front wheels (e.g., 222 a and 222 c,FIG. 3) connects, for example, through wires, to a diode bridge 508 andsubsequently to a voltage regulator 510. As such, the sub-circuitconverts the AC power signal to a DC power signal and regulating the DCpower signal to an output voltage 512 at to a predefined level, forexample, 15 volts. Similarly, the pair of back wheels (e.g., 222 b and222 d, FIG. 3) is connected to a diode bridge 508′ and subsequently to avoltage regulator 510′ to generate an output voltage 512′.

As shown in FIG. 5C, the PIC microcontroller 228, through a voltagedivider circuit 514 and 514′ and separate analog sense interfaces of thePIC microcontroller 228, is electrically coupled to one of the wheels222 (e.g., the wires or electrical pick-up coupled to the wheel 222) ofeach of the pair of front wheels (e.g., 222 a and 222 c) and the pair ofback wheels (e.g., 222 b and 222 d). In some embodiments, the analogsensor interface, which is communicatively coupled to the wheels 222 ofthe cart 104, may receive communication signals embedded with theelectrical power signals transmitted via the track 102 to the cart 104.

Still referring to circuit diagram 500, FIG. 5C further depicts asub-circuit 516 for converting the 15-volt output voltage 512 and 512′(from FIG. 5B) to a 12-volt output voltage as depicted in sub-circuit516. Sub-circuit 516 includes a 12-volt regulator 518 circuit and anadjustable 12-volt regulator circuit 520. In some embodiments, a 12-voltsource from the 12-volt regulator 518 may be sufficient. In someembodiments, a more finely tuned 12-volt source may be required.Therefore, the 12-volt source may be drawn from the output of theadjustable 12-volt regulator circuit 520. In some embodiments, this maybe accomplished by adjusting a jumper on a set of header pins, forexample, at junction 522.

Still referring to circuit diagram 500, FIG. 5D further depicts asub-circuit 516 Sub-circuit 524 depicts another voltage regulatorcircuit. Sub-circuit 524 converts the 12-volt source to a 5-volt sourceusing a 5-volt voltage regulator. Each of the various voltage sourcesare utilized by various components of the circuit for the cart 104.Sub-circuit 526 depicts a motor control circuit. The motor controlcircuit is coupled with the PIC microcontroller 228 for controlling theoperation of the motor, which is electrically coupled to junction 530.Sub-circuit 526 may receive a control signal from the PICmicrocontroller 228 and through an optocoupler and other circuitcomponents activate or deactivate the motor.

As further depicted in the circuit diagram 500 and depicted in FIG. 5E,the PIC microcontroller 228 may be communicatively coupled to a sensormodule (e.g., 232, 234, 236). The sensor module (e.g., 232, 234, 236)may include an IR sensor circuit 532. The IR sensor circuit 532 includesan IR emitter circuit 534 and an IR detector circuit 536. As describedherein, the IR sensors and receivers may be implemented to sense othercarts 104 or track sensor modules 324 on the track 102. Additionally, IRdetectors may be implemented to provide communication to and from thecart 104. Although circuit diagram 500 depicts only one IR sensorcircuit 532 having an IR emitter circuit 534 and an IR detector circuit536, in some embodiments, the cart 104 may include one or more IR senorcircuits 532 or other type of sensor circuits. These sensor circuits maybe implemented as the leading sensor 232, the trailing sensor 234,and/or the orthogonal sensor 236 as described herein.

FIG. 6 depicts a flowchart 600 of an illustrative method of controllinga cart 104 in a grow pod assembly. Elements of the flowchart 600 may beencoded one or more of the logic elements described herein, for example,the operating logic 432, the communication logic 434 and/or the powerlogic 436. Additionally, the elements of the flowchart 600 may beexecuted by the processor 410 of the cart-computing device 228, themaster controller 106 and/or the associated circuity, for example, bythe electronics of the cart 104 (FIG. 1) as depicted and described withrespect FIG. 5A-5E.

Referring to FIGS. 1, 3, and 6, the method depicted in flowchart 600generally includes receiving signals at block 610, determining what thesignal indicates at block 620, generating a signal in response to thereceived signal at block 630, and transmitting the generated controlsignal to the drive motor 226 at block 650 in some embodiments. Forexample, at block 610, the cart-computing device 228 may receive sensorsignals from the one or more sensor modules (e.g., 232, 234, 236) atblock 612 and/or receive a communication signal at block 614. Asdiscussed above, the one or more sensor modules (e.g., 232, 234, 236)may include the leading sensor 232, the trailing sensor 234, and theorthogonal sensor 236 on the cart 104. Additionally, the cart-computingdevice 228 may receive one or more communication signals via the track102 and wheels 222 from the master controller 106. At block 620, thereceived signals are analyzed by the processor 410 and logic steps areexecuted to determine whether the drive motor 226 should be adjusted inresponse to the sensor signals.

As described above, if the sensor signal indicates a distance that isgreater or less than a threshold value the cart-computing device 228 maydetermine that the drive motor 226 needs to be adjusted. For example, ifthe sensor signal indicates that the distance to the leading cart isless than a threshold value, at block 622, or if the distance to thetrailing cart is greater than a threshold value, at block 623, then thecart-computing device 228 may determine that the speed of the drivemotor 226 needs to be decreased. In some embodiments, the cart-computingdevice 228 may generate a first control signal that decreases a speed ofthe drive motor when the distance to the leading cart is less than (orbelow) a threshold value or when the distance to the trailing cart isgreater than (or above) a threshold value. Similarly, if the sensorsignal indicates that the distance to the leading cart is greater than athreshold value, at block 624, or if the distance to the trailing cartis less than a threshold value, at block 625, then the cart-computingdevice 228 may determine that the speed of the drive motor 226 needs tobe increased. For example, the cart-computing device 228 may generate asecond control signal that increases a speed of the drive motor when thedistance to the leading cart is greater than (or above) a thresholdvalue or when the distance to the trailing cart is less than (or below)a threshold value.

If the sensor signal indicates that a leading cart has malfunctioned, atblock 626, then the cart-computing device 228 may determine that thespeed and/or torque of the drive motor 226 needs to be increased tocompensate for having to push the leading cart.

In the event the sensor signal indicates the detection of a track sensormodule 324, the cart-computing device 228 may preform one or severalfunctions. In some embodiments, where the track sensor module 324indicates a particular location along the track 102, the cart-computingdevice 228 may store, in memory component 430 (FIG. 4), the unique IDthat the sensor detected. In some embodiments, the detection of thetrack sensor module 324 by the sensor module (e.g., 232, 234, 236) maycause the cart-computing device 228 to adjust one of the speed, thedirection, the torque, or other parameter of the drive motor 226. Thatis, at block 638, the cart-computing device 228 may generate the controlsignal to carry out the determined adjustment to the drive motor 226. Insome embodiments, the cart-computing device 228 may store the unique IDas indicted by the received sensor signal and generate a control signalto adjust the functionality of the drive motor 226.

At block 630, the cart-computing device 228 and/or other electroniccircuity coupled to the cart-computing device 228 and the drive motor226 may generate the necessary control signal for adjusting thefunctionality of the drive motor 226. At block 632, the generatedcontrol signal may decrease the speed of the drive motor 226 in responseto the determination at block 622 and/or block 623. At block 634, thegenerated control signal may increase the speed of the drive motor 226in response to the determination at block 624 and/or block 625. At block636, the generated control signal may increase the speed and/or thetorque of the drive motor 226 in response to the determination of amalfunction at block 626. At block 638, the generated control signal maychange the speed, the direction, the torque and/or other attribute ofthe drive motor 226 in response to a communication signal received atblock 614. For example, the communication signal may be from the mastercontroller 106.

As described above, the control signal is transmitted to the drive motor226, at block 650, from the cart-computing device 228 and through theelectronic circuitry depicted in the circuit diagram 500, which couplesthe drive motor 226 to the cart-computing device 228.

Referring now to FIGS. 7-9, flowcharts depicting example functionalityof assembly line grow pod 100 systems having one or more carts 104operating on a track 102 are depicted. FIG. 7 depicts a flowchart forcommunicating a malfunction with a cart. As illustrated in block 702, adistance to a leading cart 104 a and a trailing cart 104 c may bemonitored to prevent collision. The cart-computing device 228a maymonitor the distance by receiving one or more signals from a sensormodule (e.g., 232 and/or 234). In block 704, communication from theleading cart 104 a may be received regarding malfunction of the leadingcart 104 a. In block 706, a mode change (e.g., a speed, power, or torqueof the drive motor 226) may be implemented to accommodate pushing of theleading cart 104 a and the leading cart 104 a may be pushed. In block708, communication may be received regarding repair or replacement ofthe leading cart 104 a. In block 710, normal operation and monitoringmay be resumed.

FIG. 8 depicts a flowchart for communicating a malfunction with atrailing cart 104 c. As illustrated in block 802, drive motor 226operation may be monitored as well as distance to a leading cart 104 aand a trailing cart 104 c to prevent collision. In block 804, amalfunction may be determined. In block 806, the data related to themalfunction may be communicated to the trailing cart 104 c and thetrailing cart 104 c may begin to push the middle cart 104 b. In block808, a correction to the malfunction may be determined. This may bedetected or communicated to the trailing cart 104 c. In block 810,normal operation and monitoring may be resumed.

FIG. 9 depicts a flowchart for communicating data with a mastercontroller 106. As illustrated in block 902, drive motor operation aswell as distance to a leading cart 104 a and a trailing cart 104 c maybe monitored to prevent a collision. In block 904, a track sensor module324 may be detected. In block 906, cart data and other data may becommunicated to the track sensor module 324 by utilizing one or moresenor modules (e.g., 232, 234, 236). In block 908, one or moreinstructions may be received from the master controller 106. In block910, normal operation and monitoring may be resumed.

As illustrated above, various embodiments of systems and methods forproviding a cart for a grow pod are disclosed. More particularly, someembodiments disclosed herein include systems and methods of providingand communicating between and with carts in an assembly line grow pod.These embodiments allow for a plurality of carts to operateindependently and traverse a track of a grow pod.

Accordingly, embodiments include systems and/or methods forcommunicating with a cart in a grow pod that includes a tray and acart-computing device that cause the cart to operate in response to oneor more sensor signals and/or communication signals. The one or moresensor signals may be received from the one or more sensor modules onthe cart. The one or more sensor modules may detect events such as thedistance between adjacent carts on the track, identify and communicatewith track sensor modules, and/or communicate with adjacent carts on thetrack. The communication signals may be transmitted and received via thesensor modules coupled to the cart and may provide status information orcommands to and from the master controller. In response to the one ormore sensor signals and/or communication signals, the cart-computingdevice may adjust the operation of the drive motor of the cart.

While particular embodiments and aspects of the present disclosure havebeen illustrated and described herein, various other changes andmodifications can be made without departing from the spirit and scope ofthe disclosure. Moreover, although various aspects have been describedherein, such aspects need not be utilized in combination. Accordingly,it is therefore intended that the appended claims cover all such changesand modifications that are within the scope of the embodiments shown anddescribed herein. It should now be understood that embodiments disclosedherein include systems, methods, and non-transitory computer-readablemediums for communicating with a cart. It should also be understood thatthese embodiments are merely exemplary and are not intended to limit thescope of this disclosure.

What is claimed is:
 1. A cart comprising: a wheel; a drive motor coupledto the wheel such that an output of the drive motor causes the wheel torotate and propel the cart; a cart-computing device communicativelycoupled to the drive motor, wherein the cart-computing device generatesa control signal to adjust an operation of the drive motor in responseto receiving an electrical signal via the wheel wherein the electricalsignal comprises a communication signal and electrical power; and asensor module comprising an emitter and a detector configured to utilizeat least one of: an infrared light, an ultrasound wave, a magneticfield, or visible light, the sensor module is communicatively coupled tothe cart-computing device, wherein the sensor module: in a first mode,generates a signal and transmits the signal to the cart-computing devicein response to a detected event, in a second mode, transmits a firstcommunication signal in response to the first communication signalgenerated by the cart-computing device, and in a third mode, receives asecond communication signal in response to a source external to the carttransmitting the second communication signal to the cart.
 2. The cart ofclaim 1, wherein the first mode, the second mode, and the third mode,operate during individual periods of time.
 3. The cart of claim 1,wherein the first mode operates during a first period of time and thesecond mode and the third mode operate during a second period of time,different that the first period of time.
 4. The cart of claim 1, whereinthe first communication signal or the second communication signalcorresponds to a status information of the cart.
 5. The cart of claim 4,wherein the status information includes information corresponding to amalfunction of the cart.
 6. The cart of claim 1, wherein the firstcommunication signal or the second communication signal corresponds toone or more instructions for controlling the operation of the cart. 7.The cart of claim 1, wherein the cart-computing device generates thefirst communication signal based on the signal generated by the sensormodule in response to the detected event.
 8. The cart of claim 1,wherein the cart-computing device generates and transmits the controlsignal to the drive motor to cause the drive motor to operate based onthe signal generated by the sensor module in response to the secondcommunication signal received by the sensor module.
 9. The cart of claim1, wherein the sensor module comprises an infrared transmitter and aninfrared emitter.
 10. A system comprising: a track; a first cartsupported on the track, the first cart comprising: a wheel coupled tothe first cart and supported on the track; a drive motor coupled to thewheel such that an output of the drive motor causes the wheel to rotateand propel the first cart; a cart-computing device communicativelycoupled to the drive motor, wherein the cart-computing device generatesa control signal to adjust an operation of the drive motor in responseto receiving an electrical signal via the wheel wherein the electricalsignal comprises a communication signal and electrical power; and asensor module comprising an emitter and a detector configured to utilizeat least one of: an infrared light, an ultrasound wave, a magneticfield, or visible light, the sensor module is communicatively coupled tothe cart-computing device; and a second cart supported on the track, thesecond cart comprising: a wheel coupled to the second cart and supportedon the track; a drive motor coupled to the wheel such that an output ofthe drive motor causes the wheel to rotate and propel the second cart; acart-computing device communicatively coupled to the drive motor,wherein the cart-computing device generates a control signal to adjustan operation of the drive motor; and a sensor module communicativelycoupled to the cart-computing device, wherein: the sensor module of thefirst cart generates a first signal in response to a first detectedevent and transmits the first signal to the cart-computing device of thefirst cart, the sensor module of the first cart transmits a firstcommunication signal generated by the cart-computing device of the firstcart to the sensor module of the second cart, and the sensor module ofthe second cart receives the first communication signal and transmitsthe first communication signal to the cart-computing device of thesecond cart.
 11. The system of claim 10, wherein the first detectedevent corresponds to detecting, with the sensor module of the firstcart, a presence of the second cart and the first signal generated bythe sensor module of the first cart corresponds to a distance betweenthe first cart and the second cart.
 12. The system of claim 10, wherein:the sensor module of the second cart generates a second signal inresponse to a second detected event and transmits the second signal tothe cart-computing device of the second cart, the sensor module of thesecond cart transmits a second communication signal generated by thecart-computing device of the second cart to the sensor module of thefirst cart, and the sensor module of the first cart receives the secondcommunication signal and transmits the second communication signal tothe cart-computing device of the first cart.
 13. The system of claim 10,wherein the cart-computing device of the first cart generates the firstcommunication signal based on the first signal generated by the sensormodule of the first cart in response to the first detected event. 14.The system of claim 10, wherein the cart-computing device of the firstcart generates and transmits the control signal to the drive motor ofthe first cart to cause the drive motor of the first cart to operatebased on a second communication signal received by the sensor module ofthe first cart.
 15. The system of claim 10, wherein: the sensor moduleis coupled to the first cart such that the sensor module generates thefirst signal in response to the first detected event behind the firstcart, the first detected event corresponds to detection of a presence ofthe second cart behind the first cart on the track, the first signalcorresponds to a distance between the first cart and the second cart,and the cart-computing device of the first cart generates the controlsignal to adjust the operation of the drive motor of the first cart inresponse to the first signal to maintain a position relative to thesecond cart.
 16. The system of claim 10, wherein: the sensor module iscoupled to the first cart such that the sensor module generates thefirst signal in response to the first detected event in front of thefirst cart, the first detected event corresponds to detection of apresence of the second cart in front of the first cart on the track, thefirst signal corresponds to a distance between the first cart and thesecond cart, the cart-computing device of the first cart generates thecontrol signal to adjust the operation of the drive motor of the firstcart in response to the first signal to maintain a position relative tothe second cart.
 17. A system comprising: a track; a track sensor modulecoupled to the track; a master controller communicatively coupled to thetrack sensor module; and a cart supported on the track, the cartcomprising: a wheel coupled to the cart and supported on the track; adrive motor coupled to the wheel such that an output of the drive motorcauses the wheel to rotate and propel the cart; a cart-computing devicecommunicatively coupled to the drive motor, wherein the cart-computingdevice generates a control signal to adjust an operation of the drivemotor in response to receiving an electrical signal via the wheelwherein the electrical signal comprises a communication signal andelectrical power; and a sensor module comprising an emitter and adetector configured to utilize at least one of: an infrared light, anultrasound wave, a magnetic field, or visible light, the sensor moduleis communicatively coupled to the cart-computing device, wherein thesensor module: generates a signal and transmits the signal to thecart-computing device in response to a detected event, transmits a firstcommunication signal in response to the first communication signalgenerated by the cart-computing device, and receives a secondcommunication signal in response to a source external to the carttransmitting the second communication signal to the cart.
 18. The systemof claim 17, wherein the sensor module comprises an orthogonal sensorconfigured to transmit the first communication signal to the tracksensor module and receive the second communication signal from the tracksensor module.
 19. The system of claim 18, wherein the track sensormodule transmits the first communication signal to the master controllerand the first communication signal corresponds to status information ofthe cart.
 20. The system of claim 18, wherein the master controllergenerates the second communication signal and the second communicationsignal corresponds to one or more instructions for controlling theoperation of the cart.